diff --git a/locales/en/messages.json b/locales/en/messages.json
index 4f4b7280..4c715b13 100644
--- a/locales/en/messages.json
+++ b/locales/en/messages.json
@@ -3707,6 +3707,15 @@
     "pidTuningVbatSagValue": {
         "message": "%"
     },
+    "pidTuningThrustLinearization": {
+        "message": "Thrust Linearization"
+    },
+    "pidTuningThrustLinearizationHelp": {
+        "message": "Compensates for the non-linear relationship between throttle and thrust by applying an inverse motor curve to the motor output. The amount of compensation can be varied between 0 and 150%."
+    },
+    "pidTuningThrustLinearValue": {
+        "message": "%"
+    },
     "pidTuningItermRotation": {
         "message": "I Term Rotation"
     },
diff --git a/src/js/fc.js b/src/js/fc.js
index 9ce73051..10b8b3d0 100644
--- a/src/js/fc.js
+++ b/src/js/fc.js
@@ -466,6 +466,7 @@ const FC = {
             ff_smooth_factor:           0,
             ff_boost:                   0,
             vbat_sag_compensation:      0,
+            thrustLinearization:        0,
         };
         this.ADVANCED_TUNING_ACTIVE = { ...this.ADVANCED_TUNING };
 
diff --git a/src/js/msp/MSPHelper.js b/src/js/msp/MSPHelper.js
index c280a85f..bb99b7a4 100644
--- a/src/js/msp/MSPHelper.js
+++ b/src/js/msp/MSPHelper.js
@@ -1166,6 +1166,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
                                                         FC.ADVANCED_TUNING.ff_smooth_factor = data.readU8();
                                                         FC.ADVANCED_TUNING.ff_boost = data.readU8();
                                                         FC.ADVANCED_TUNING.vbat_sag_compensation = data.readU8();
+                                                        FC.ADVANCED_TUNING.thrustLinearization = data.readU8();
                                                     }
                                                 }
                                             }
@@ -2112,7 +2113,8 @@ MspHelper.prototype.crunch = function(code) {
                                                     buffer.push8(FC.ADVANCED_TUNING.ff_interpolate_sp)
                                                           .push8(FC.ADVANCED_TUNING.ff_smooth_factor)
                                                           .push8(FC.ADVANCED_TUNING.ff_boost)
-                                                          .push8(FC.ADVANCED_TUNING.vbat_sag_compensation);
+                                                          .push8(FC.ADVANCED_TUNING.vbat_sag_compensation)
+                                                          .push8(FC.ADVANCED_TUNING.thrustLinearization);
                                                 }
                                             }
                                         }
diff --git a/src/js/tabs/pid_tuning.js b/src/js/tabs/pid_tuning.js
index 1d5e3b28..28501389 100644
--- a/src/js/tabs/pid_tuning.js
+++ b/src/js/tabs/pid_tuning.js
@@ -483,9 +483,21 @@ TABS.pid_tuning.initialize = function (callback) {
                 const checked = $(this).is(':checked');
                 $('.vbatSagCompensation .suboption').toggle(checked);
             }).change();
+
+            // Thrust Linearization
+            const thrustLinearizationCheck = $('input[id="thrustLinearization"]');
+
+            thrustLinearizationCheck.prop('checked', FC.ADVANCED_TUNING.thrustLinearization !== 0);
+            $('input[name="thrustLinearValue"]').val(FC.ADVANCED_TUNING.thrustLinearization > 0 ? FC.ADVANCED_TUNING.thrustLinearization : 20);
+
+            thrustLinearizationCheck.change(function() {
+                const checked = $(this).is(':checked');
+                $('.thrustLinearization .suboption').toggle(checked);
+            }).change();
         } else {
             $('.ffInterpolateSp').hide();
             $('.vbatSagCompensation').hide();
+            $('.thrustLinearization').hide();
         }
 
         $('input[id="useIntegratedYaw"]').change(function() {
@@ -955,6 +967,7 @@ TABS.pid_tuning.initialize = function (callback) {
             FC.ADVANCED_TUNING.ff_boost = parseInt($('input[name="ffBoost"]').val());
             FC.FILTER_CONFIG.dyn_lpf_curve_expo = parseInt($('.pid_filter input[name="dtermLowpassDynExpo"]').val());
             FC.ADVANCED_TUNING.vbat_sag_compensation = $('input[id="vbatSagCompensation"]').is(':checked') ? parseInt($('input[name="vbatSagValue"]').val()) : 0;
+            FC.ADVANCED_TUNING.thrustLinearization = $('input[id="thrustLinearization"]').is(':checked') ? parseInt($('input[name="thrustLinearValue"]').val()) : 0;
         }
     }
 
diff --git a/src/tabs/pid_tuning.html b/src/tabs/pid_tuning.html
index f3406cbc..77df8f7c 100644
--- a/src/tabs/pid_tuning.html
+++ b/src/tabs/pid_tuning.html
@@ -610,6 +610,21 @@
                                     </span>
                                 </td>
                             </tr>
+                            
+                            <tr class="thrustLinearization">
+                                <td><input type="checkbox" id="thrustLinearization" class="toggle" /></td>
+                                <td colspan="2">
+                                    <span i18n="pidTuningThrustLinearization"></span>
+                                    <div class="helpicon cf_tip" i18n_title="pidTuningThrustLinearizationHelp"></div>
+
+                                    <span class="thrustLinearValue suboption">
+                                        <input type="number" name="thrustLinearValue" step="1" min="1" max="150" />
+                                        <label for="thrustLinearValue">
+                                            <span i18n="pidTuningThrustLinearValue"></span>
+                                        </label>
+                                    </span>
+                                </td>
+                            </tr>
 
                             <tr class="smartfeedforward">
                                 <td><input type="checkbox" id="smartfeedforward" class="toggle" /></td>